Initial public commit.

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+./idea
+.idea/
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+pyrep/backend/_v_rep_cffi*
+

.travis.yml

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+dist: xenial
+language: python
+services:
+  - xvfb
+python:
+  - "3.6"
+before_install:
+ - sudo add-apt-repository --yes ppa:ubuntu-sdk-team/ppa
+ - sudo apt-get update -qq
+ - sudo apt-get install qtbase5-dev qtdeclarative5-dev libqt5webkit5-dev libsqlite3-dev
+ - sudo apt-get install qt5-default qttools5-dev-tools
+install:
+  - cur=`pwd`
+  # Pull V-REP
+  - wget http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_6_2_Ubuntu16_04.tar.xz
+  - tar -xf V-REP_PRO_EDU_V3_6_2_Ubuntu16_04.tar.xz
+  - export VREP_ROOT="$cur/V-REP_PRO_EDU_V3_6_2_Ubuntu16_04"
+  - echo $VREP_ROOT
+  # $VREP_ROOT/platforms needed otherwise will get:
+  # qt.qpa.plugin: Could not load the Qt platform plugin "xcb"
+  - export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$VREP_ROOT:$VREP_ROOT/platforms
+  - export QT_QPA_PLATFORM_PLUGIN_PATH=$VREP_ROOT
+  - pip3 install -r requirements.txt
+  - python3 setup.py install
+# command to run tests
+script:
+  # We need to rename the local folder otherwise we will test this rather than
+  # the installed version.
+  - mv pyrep _pyrep
+  - python3 -m unittest discover tests

LICENSE

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+MIT License
+
+Copyright (c) 2019 Stephen James
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# PyRep [![Build Status](https://travis-ci.com/stepjam/PyRep.svg?token=bQxtiYV3p3bPYhzWMoLi&branch=master)](https://travis-ci.com/stepjam/PyRep)
+
+__PyRep is a toolkit for robot learning research, built on top of the virtual
+robotics experimentation platform ([V-REP](www.coppeliarobotics.com/)).__
+
+- [Install](#install)
+- [Getting Started](#getting-started)
+- [Usage](#usage)
+- [Supported Robots](#supported-robots)
+- [Planned Future Updates](#planned-future-updates)
+- [Contributing](#contributing)
+
+
+## Install
+
+In addition to the PyRep API, you will aso need to download the latest version of V-REP [from the downloads page](http://www.coppeliarobotics.com/downloads.html).
+
+Once you have downloaded V-REP, you can pull PyRep from git:
+
+```bash
+git clone https://github.com/stepjam/PyRep.git
+cd PyRep
+```
+
+Add the following to your *~/.bashrc* file: (__NOTE__: the 'EDIT ME' in the first line)
+
+```bash
+export VREP_ROOT=EDIT/ME/PATH/TO/V-REP/INSTALL/DIR
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$VREP_ROOT
+export QT_QPA_PLATFORM_PLUGIN_PATH=$VREP_ROOT
+```
+
+__Remember to source your bashrc after this:__ ```source ~/.bashrc```.
+
+Finally install the python library:
+
+```bash
+python3 setup.py install --user
+```
+
+You should be good to go!
+Try running one of the examples in the *examples/* folder.
+
+_Although you can use V-REP on any platform, communication via PyRep is currently only supported on Linux._
+
+#### Running Headless
+
+If you plan to run on a headless machine, you will also need to run with a virtual framebuffer. E.g.
+
+```bash
+sudo apt-get install xvfb
+xvfb-run python3 my_pyrep_app.py
+```
+
+## Getting Started
+
+1. First take a look at [Usage](#usage) and the examples in the *examples/* folder to see if PyRep might be able to accelerate your research.
+2. Take a look at the V-REP [tutorials](http://www.coppeliarobotics.com/helpFiles/en/tutorials.htm).
+
+## Usage
+
+The best way to see how PyRep can help in your research is to look at the examples in the *examples/* folder!
+
+#### Launching the simulation
+
+```python
+from pyrep import PyRep
+
+pr = PyRep()
+# Launch the application with a scene file in headless mode
+pr.launch('scene.ttt', headless=True) 
+pr.start()  # Start the simulation
+
+# Do some stuff
+
+pr.start()  # Stop the simulation
+pr.shutdown()  # Close the application
+```
+
+
+#### Modifying the Scene
+
+```python
+from pyrep.objects.shape import Shape
+from pyrep.const import PrimitiveShape
+
+object = Shape.create(type=PrimitiveShape.CYLINDER, 
+                      color=[r,g,b], size=[w, h, d],
+                      position=[x, y, z])
+object.set_color([r, g, b])
+object.set_position([x, y, z])
+```
+
+#### Using Robots
+
+Robots are designed to be modular; arms are treated separately to grippers.
+
+Use the robot ttm files defined in robots/ttms. These have been altered slightly from the original ones shipped with V-REP to allow them to be used with motional planning out of the box. 
+The 'tip' of the robot may not be where you want it, so feel free to play around with this.
+
+```python
+from pyrep import PyRep
+from pyrep.robots.arms.panda import Panda
+from pyrep.robots.end_effectors.panda_gripper import PandaGripper
+
+pr = PyRep()
+# Launch the application with a scene file that contains a robot
+pr.launch('scene_with_panda.ttt') 
+pr.start()  # Start the simulation
+
+arm = Panda()  # Get the panda from the scene
+gripper = PandaGripper()  # Get the panda gripper from the scene
+
+velocities = [.1, .2, .3, .4, .5, .6, .7]
+arm.set_joint_target_velocities(velocities)
+pr.step()  # Step physics simulation
+
+done = False
+# Open the gripper halfway at a velocity of 0.04.
+while not done:
+    done = gripper.actuate(0.5, velocity=0.04)
+    pr.step()
+
+pr.start()  # Stop the simulation
+pr.shutdown()  # Close the application
+```
+
+We recommend constructing your robot in a dictionary or a small structure, e.g.
+
+
+```python
+class MyRobot(object):
+  def __init__(self, arm, gripper):
+    self.arm = arm
+    self.gripper = gripper
+
+arm = Panda()  # Get the panda from the scene
+gripper = PandaGripper()  # Get the panda gripper from the scene
+
+# Create robot structure
+my_robot_1 = MyRobot(arm, gripper)
+# OR
+my_robot_2 = {
+  'arm': arm,
+  'gripper': gripper
+}
+```
+
+## Supported Robots
+
+Here is a list of robots currently supported by PyRep:
+
+#### Arms
+
+- Kinova Mico
+- Kinova Jaco
+- Rethink Baxter
+- Rethink Sawyer
+- Franka Emika Panda
+- Kuka LBR iiwa 7 R800
+- Kuka LBR iiwa 14 R820
+- Universal Robots UR3
+- Universal Robots UR5
+- Universal Robots UR10
+
+#### Grippers
+
+- Kinova Mico Hand
+- Kinova Jaco Hand
+- Rethink Baxter Gripper
+- Franka Emika Panda Gripper
+
+Feel free to send pull requests for new robots!
+
+## Planned Future Updates
+
+- Support for mobile bases (including planning)
+- Support for MuJoCo
+- Sim-to-Real support (e.g. domain randomization)
+
+## Contributing
+
+We want to make PyRep the best tool for rapid robot learning research. If you would like to get involved, then please [get in contact](https://www.doc.ic.ac.uk/~slj12/)!
+
+Pull requests welcome for bug fixes!